Net Loss Per Share - Net loss per share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2024	Jun. 30, 2024	Mar. 31, 2024	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2024	Sep. 30, 2023
Equity [Abstract]
Net loss	$ (20,974)	$ (25,626)	$ (25,957)	$ (24,622)	$ (25,285)	$ (28,484)	$ (72,557)	$ (78,393)
Weighted-average common stock outstanding, basic (in shares)	52,011			48,310			51,550	46,131
Weighted-average common stock outstanding, diluted (in shares)	52,011			48,310			51,550	46,131
Net loss per share, basic (in dollars per share)	$ (0.40)			$ (0.51)			$ (1.41)	$ (1.70)
Net loss per share, diluted (in dollars per share)	$ (0.40)			$ (0.51)			$ (1.41)	$ (1.70)